6 SERVO MOTOR DRIVING
6.3 Indexer mode (idx)
149
6
Operation sequence
Rotation direction specifying indexer
• Always perform a home position return. Executing positioning operation without home position return will
trigger [AL. 90 Home position return incomplete warning] and "Controlword bit 4 (New set-point)" will be
disabled.
The servo motor rotates in a fixed direction to execute positioning to a station.
The following timing chart shows that an operation is started from being stopped at the station No. 0 at servo-on.
■
When using Profile velocity (6081h), Profile Acceleration (6083h) and Profile deceleration
(6084h)
For the servo motor speed, acceleration time constant and deceleration time constant during operation, the values set in
Profile velocity (6081h), Profile acceleration (6083h) and Profile deceleration (6084h) are used.
Controlword bit 6
(Indexer mode)
Target point table
*1
Statusword bit 12
(Set-point acknowledge)
Point actual value
100.00 r/min
Profile velocity
Controlword bit 4
(New set-point)
Controlword bit 5
(Direction)
*3
*5
Point demand value
1
3
1
(a)
(b)
(c)
[Pr. PC77]
Positive torque limit value/
Negative torque limit value
[Pr. PC77]
Positive torque limit value/
Negative torque limit value
[Pr. PC77]
Positive torque limit value/
Negative torque limit value
[Pr. PC77]
*5
*5
150.00 r/min
1
3
1
1
3
1
*2
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Status DO 5 bit 5
Status DO 5 bit 6
0 r/min
INP/S_INP
Rotation direction specifying indexer
Forward
rotation
Servo motor speed
*4
Reverse
rotation
(In-position)
*6
(S_CPO (Rough match))
(S_MEND (Travel completion))
Torque limit value to be enabled
